WO2014033988A1 - Simulateur de sensation de fonctionnement - Google Patents

Simulateur de sensation de fonctionnement Download PDF

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Publication number
WO2014033988A1
WO2014033988A1 PCT/JP2013/003704 JP2013003704W WO2014033988A1 WO 2014033988 A1 WO2014033988 A1 WO 2014033988A1 JP 2013003704 W JP2013003704 W JP 2013003704W WO 2014033988 A1 WO2014033988 A1 WO 2014033988A1
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WO
WIPO (PCT)
Prior art keywords
reaction force
operation lever
information
lever
simulator
Prior art date
Application number
PCT/JP2013/003704
Other languages
English (en)
Japanese (ja)
Inventor
総一郎 服部
裕之 荒川
好男 岩崎
Original Assignee
アイシン・エーアイ株式会社
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Filing date
Publication date
Application filed by アイシン・エーアイ株式会社 filed Critical アイシン・エーアイ株式会社
Publication of WO2014033988A1 publication Critical patent/WO2014033988A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/04—Stops for limiting movement of members, e.g. adjustable stop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Definitions

  • the present invention relates to an operation feeling simulator that provides a desired operation feeling to a user.
  • a simulator that presents a desired operation feeling by presenting a predetermined force sense to an operation unit operated by a user.
  • a simulator has an overall structure in which an operation unit included in an actual machine is attached to a seat part imitating an actual machine of a moving body.
  • the conventional simulator includes a sensor that measures the operation amount of the operation unit, a control unit that calculates a predetermined presentation force according to the measured operation amount, and a calculated presentation force. Accordingly, it is configured to include an actuator that presents a force sense to the operation unit (see, for example, Patent Document 1 below).
  • the present invention has been made in view of the above-described problems, and the object thereof is to present a desired force sense to an operation lever that can be freely operated regardless of its direction. This is to provide a delicate operation feeling to the user.
  • An operation sensation simulator is an operation sensation simulator that provides a desired operation sensation to a user, the operation lever having an operation grip on one end side and an action portion on the other end side, and the operation lever
  • the tilting operation of the operation lever with the rotation center portion as the tilting center is realized by applying a rotational driving force to the rotation center portion and the operation lever between the operation grip and the action portion.
  • Two operating motors an operating lever information detecting unit for detecting operating lever information including the position of the operating lever, and a reaction to the operating lever based on the operating lever information detected by the operating lever information detecting unit.
  • a reaction force calculating means for calculating a force, and controlling the two motors based on the reaction force calculated by the reaction force calculating means.
  • Lever is tilted operated and is characterized in that it comprises a control unit and a control means for generating a reaction force against the operating grip.
  • the operation lever information may include at least one of a stroke amount, a stroke speed, and a stroke acceleration of the operation lever.
  • the operation sensation simulator according to the present invention may be provided with a restricting means for restricting the operation range of the operation lever to a desired range.
  • control unit includes wall information acquisition means for acquiring wall information indicating a boundary between the operable range and the inoperable range of the operation lever, and the wall information acquisition means.
  • wall information acquisition means for acquiring wall information indicating a boundary between the operable range and the inoperable range of the operation lever
  • wall information acquisition means for acquiring wall information indicating a boundary between the operable range and the inoperable range of the operation lever.
  • an operable range regulating means for regulating the operable range of the operation lever within a desired region can be included.
  • the two motors include a shift direction motor that exerts a rotational driving force in the shift direction and a select direction motor that exerts the rotational driving force in the select direction, and the shift The direction motor is arranged to input a rotational driving force to the rotation center portion, and the select direction motor is arranged to input a rotational driving force to the action portion of the operation lever.
  • the two motors include a shift direction motor that exerts a rotational driving force in the shift direction and a select direction motor that exerts the rotational driving force in the select direction, and the shift The direction motor is arranged to input a rotational driving force to the rotation center portion, and the select direction motor is arranged to input a rotational driving force to the action portion of the operation lever.
  • the reaction force calculation means is a reaction force in which position information of the operation lever is associated with reaction force characteristic information regarding a characteristic of reaction force applied to the operation lever.
  • a reaction force pattern information acquisition unit that acquires pattern information
  • a reaction force characteristic information determination unit that determines reaction force characteristic information according to the operation lever information detected by the operation lever information detection unit. It is possible to calculate a reaction force with respect to the operation lever according to the determined reaction force characteristic information.
  • the operation sensation simulator according to the present invention can include a seat for reproducing a state in which the user gets on the vehicle, and the seat is provided so that the user can change the boarding direction with respect to the operation lever. Can be.
  • a desired force sense can be presented to an operation lever that can be operated in any direction regardless of the direction, and a delicate operation feeling can be provided to a user.
  • FIG. 1 It is an external appearance perspective view which shows the structural example of the operation feeling simulator which concerns on this embodiment. It is the schematic which shows the structural example of the actuator which concerns on this embodiment. It is explanatory drawing which shows the structural example of the actuator which concerns on this embodiment, and has shown the front view especially. It is explanatory drawing which shows the structural example of the actuator which concerns on this embodiment, and has shown the side view especially. It is a block diagram which shows the internal structure of the control apparatus which concerns on this embodiment. It is explanatory drawing which shows the storage state of wall information. It is explanatory drawing which shows the example of the storage state of the reaction force pattern information for select directions. It is explanatory drawing which shows the example of the storage state of the reaction force pattern information for shift directions. FIG.
  • FIG. 9 is a graph showing a specific configuration example of the reaction force pattern information set in FIG. 7 and FIG. 8, and a partial diagram (a) in the drawing shows the reaction force pattern information when the operation lever is operated in the plus direction.
  • FIG. 5B shows reaction force pattern information when the operation lever is operated in the minus direction.
  • It is explanatory drawing which shows the example of the storing state of operation lever information.
  • It is a flowchart which shows the example of the reaction force presentation process with respect to the shift direction motor which a control part performs.
  • FIG. 1 is an external perspective view showing a configuration example of an operation sensation simulator 100 according to the present embodiment.
  • FIG. 2 is a schematic diagram illustrating a configuration example of the actuator 10 according to the present embodiment.
  • 3 and 4 are explanatory views showing a configuration example of the actuator 10 according to the present embodiment, in which FIG. 3 shows a front view and FIG. 4 shows a side view.
  • the operation sensation simulator 100 includes an actuator 10, a control device 30, and a seat seat 51 that is laid on the actuator 10.
  • the operation feeling simulator 100 shown in FIG. 1 supports the handle 91, the accelerator pedal 92, the clutch pedal 93, the scale 94 that supports the shift direction motor 17, and the select direction motor according to the position of the user sitting on the seat 51.
  • the scale 95 is arranged, these members are not essential components in the present embodiment.
  • an accelerator pedal 92, a clutch pedal 93, and the like may be connected to the control device 30, and the control device 30 may acquire operation states of these members, so that a simulation closer to reality may be performed.
  • the actuator 10 includes an operation lever 11 having an operation grip 12 on the upper end side and an action portion 16 on the lower end side, and a rotation located between the operation grip 12 and the action portion 16 in the operation lever 11.
  • the center portion 14 and the action portion support body 24 that supports the action portion 16, and the ball spline device 23 as a drive device driven according to the operation of the action portion 16, and the rotational driving force with respect to the operation lever 11
  • the two motors 17 and 21 that realize the tilting operation of the operation lever 11 with the rotation center portion 14 as the tilting center are provided. That is, the actuator 10 according to the present embodiment is configured to execute the biaxial control driven by the two motors 17 and 21. Accordingly, when the two motors 17 and 21 exert a rotational driving force on the operation lever 11, the operation lever 11 is tilted about the rotation center portion 14 as a tilt center.
  • the operation lever 11 is a rod-shaped member for a user to perform an operation, and is configured to include an operation grip 12, a load detection sensor 13, a rotation center portion 14, and an action portion 16.
  • the operation grip 12 is provided on the upper end side
  • the members are arranged in the order of the load detection sensor 13 and the rotation center portion 14 on the lower side
  • the action portion 16 is provided on the lower end side.
  • the operation lever 11 is configured to be replaceable or adjustable by fastening means such as bolts and nuts because the operation lever 11 varies in length and shape depending on the vehicle type, and the operation feeling varies depending on the length and shape. Is preferred.
  • the operation grip 12 is a member that serves as a handle when the user operates the operation lever 11.
  • the operation grip 12 also has a shape, a size, and the like that differ depending on the vehicle type, and an operation feeling that varies depending on the shape and the size, so that the operation grip 12 can be replaced or adjusted by a fastening means such as a bolt or a nut. It is preferable.
  • the load detection sensor 13 is a sensor for detecting a load applied to the operation lever 11. Specifically, a torque sensor is used, and functions as an operation lever information detection unit in the present embodiment.
  • the rotation center portion 14 is located between the operation grip 12 and the action portion 16 and functions as a tilt center when the operation lever 11 tilts in the shift direction and the select direction.
  • the intersection of the central axis extending in the longitudinal direction of the operation lever 11 and the extension line of the central axis of the columnar member 15 a becomes the rotation center portion 14.
  • the rotation conducting portion 15 is a member that passes a rotational force between the shift direction motor 17 and the rotation center portion 14. As shown in FIG. 2, the specific structure of the rotation conducting portion 15 according to the present embodiment protrudes so as to pass through the rotation center portion 14 and to look like a cross in relation to the operation lever 11.
  • the cylindrical member 15a includes a substantially U-shaped transmission member 15b that is connected to both ends of the cylindrical member 15a, and a shaft member 15c that is connected to the opposite side of the connection portion of the transmission member 15b to the cylindrical member 15a. Yes. Since the shaft member 15c is connected to the motor shaft of the shift direction motor 17, when the shift direction motor 17 is driven, the rotational driving force generated on the motor shaft rotates the shaft member 15c.
  • the columnar member 15a, the transmission member 15b, and the shaft member 15c constituting the rotation conducting portion 15 receive a rotational driving force as a single rigid body, so that the rotational driving force is operated with the rotation center portion 14 as a tilting center. It will reach as a force to rotate.
  • the action part 16 is a part to which a force by the operation is applied when the operation lever 11 is operated.
  • the action part 16 is formed in a spherical shape and is configured to come into sliding contact with the action part support body 24 provided in a pair.
  • the action part 16 is comprised so that sliding contact may be carried out with respect to the action part support body 24, you may be comprised so that rolling contact may be carried out.
  • the shift direction motor 17 is a member that applies a force to the operation force of the operation lever 11 in the shift direction.
  • the shift direction motor 17 is connected to a speed reducer 17a (see FIG. 3).
  • the reduction gear 17a is comprised so that each axis
  • the shift direction motor 17 that presents a reaction force with respect to the shift direction that requires a fine detection accuracy and a fine presentation force is connected to the speed reducer 17a and the coupling 17b, so that a fine detection can be made regarding the operation of the operation lever.
  • a fine detection can be made regarding the operation of the operation lever.
  • the shift direction motor 17 is provided with a shift direction encoder 18.
  • the shift direction encoder 18 is a member arranged so that the amount of rotation of the shaft of the shift direction motor 17 can be grasped. That is, the shift direction encoder 18 is configured to generate a pulse in response to the shift direction motor 17 being rotationally driven, and functions as a shift direction operation lever information detection unit in the present embodiment.
  • the shift direction encoder 18 is configured to be connected to a control unit 31 as a control unit such as a servo amplifier provided in the control device 30 in order to transmit the acquired number of pulses.
  • the select direction motor 21 is a member that applies force to the operation force of the operation lever 11 in the select direction.
  • the select direction motor 21 is connected to a speed reducer 21a (see FIG. 4).
  • the reduction gear 21a is connected via the coupling 21b with respect to the spline shaft 23a of the ball spline apparatus 23, in order to transmit rotational driving force correctly, it is comprised so that each axis
  • the rotation angle of the select direction motor 21 can be increased, and the resolution per pulse can be reduced.
  • the select direction motor 21 that presents a reaction force with respect to the select direction that requires fine detection accuracy and presentation force is connected to the speed reducer 21a and the coupling 21b, so that the fine detection accuracy with respect to the stroke on the knob. It is possible to exhibit the detailed presentation power with high accuracy.
  • the select direction motor 21 is provided with a select direction encoder 22.
  • the select direction encoder 22 is a member arranged so as to be able to grasp the rotation amount of the shaft of the select direction motor 21. That is, the select direction encoder 22 is configured to generate a pulse in response to the rotation of the select direction motor 21, and functions as an operation lever information detection unit in the select direction in the present embodiment.
  • the select direction encoder 22 is configured to be connected to a control unit 31 such as a servo amplifier provided in the control device 30 in order to transmit the acquired number of pulses.
  • the ball spline device 23 is a drive device that includes a spline shaft 23a, a spline outer cylinder 23b, and a plurality of balls (not shown) interposed between the spline shaft 23a and the spline outer cylinder 23b so as to be capable of infinite circulation.
  • the spline outer cylinder 23b can freely reciprocate in the axial direction of the spline shaft 23a, but is locked in the direction around the axis of the spline shaft 23a and cannot move freely. is there.
  • the action part support 24 is formed on the outer peripheral surface of the spline outer cylinder 23b, the spline outer cylinder 23b and the action part 16 of the operation lever 11 are: It is in a connected state via the action part support 24. That is, the rotational driving force from the shift direction motor 17 acts on the rotation center portion 14 via the rotation conduction portion 15 of the operation lever 11, and the operation lever 11 is tilted in the shift direction with the rotation center portion 14 as the tilt center.
  • the rotational driving force is exerted in the axial direction of the spline shaft 23a.
  • the rotation conducting portion 15 rotates with the rotation center portion 14 as a rotation axis.
  • the shaft member 15c included in the rotation conducting portion 15 rotates, and the shaft of the reduction gear 17a coupled to the rotation also rotates.
  • the shift direction encoder 18 outputs a pulse corresponding to the rotation amount of the motor shaft.
  • the select direction motor 21 side is slid with respect to the action portion support body 24 so that the action portion 16 slides with the rotation center portion 14 as a fulcrum. Act.
  • the acting force is transmitted to the ball spline device 23 connected to the acting portion support 24.
  • the acting force generated by the operation in the shift direction is the axial acting force in the ball spline device 23.
  • the ball spline device 23 moves so that the spline outer cylinder 23b slides on the spline shaft with respect to the axial force. Therefore, the acting force generated by the operation in the shift direction acts only on moving the spline outer cylinder 23b on the spline shaft, and does not cause the select direction motor 21 to move.
  • the operation grip 12 when the operation of the operation lever 11 in the shift direction is performed by the user, the operation grip 12, the load detection sensor 13, the rotation center portion 14, the rotation conduction portion 15, the coupling 17b, The operating force is transmitted in the order of the speed reducer 17 a and the shift direction motor 17.
  • the operating force is transmitted to the select direction motor 21 side in the order of the operation grip 12, the load detection sensor 13, the rotation center part 14, the action part 16, the action part support 24, and the spline outer cylinder 23b.
  • the operating force disappears between the spline outer cylinder 23b and the spline shaft 23a. Therefore, the select direction motor 21 is not affected by the operation force applied to the shift direction.
  • an operation force in the select direction is applied to the action part support 24 so that the action part 16 slides around the rotation center part 14 as a rotation axis.
  • the operating force transmitted from the action part 16 via the action part support body 24 rotates the spline outer cylinder 23b in which the action part support body 24 is formed in the rotation direction around the axis of the spline shaft 23a.
  • the circulating force of the ball does not act on the rotational force, and the spline shaft 23a and the spline outer cylinder 23b are locked. Therefore, the spline outer cylinder 23b and the spline shaft 23a are integrated. And rotate.
  • the shaft of the speed reducer 21a connected to the coupling 21b also rotates.
  • the motor shaft of the select direction motor 21 is rotated by rotating the shaft of the speed reducer 21a.
  • the select direction encoder 22 outputs a pulse corresponding to the rotation amount of the motor shaft of the select direction motor 21.
  • the cylindrical member 15a of the rotation conducting portion 15 is not affected by the rotation of the rotation center portion 14 in the select direction. It is comprised so that the rotation center part 14 may be penetrated. Therefore, the rotation direction part 17 does not produce a movement only by rotational movement of the columnar member 15a as the rotation center axis.
  • the operation grip 12, the load detection sensor 13, the rotation center portion 14, the action portion 16, the ball spline device 23, and the coupling 21b are applied to the select direction motor 21 side.
  • the operating force is transmitted in the order of the speed reducer 21a and the select direction motor 21.
  • the operation force is transmitted to the shift direction motor 17 side in the order of the operation grip 12, the load detection sensor 13, and the rotation center portion 14. In the meantime, the operating force disappears. Therefore, the shift direction motor 17 is not affected by the operation force applied to the select direction.
  • Rotational drive of the shift direction motor 17 causes the motor shaft of the shift direction motor 17 to rotate, and the connected speed reducer 17a also rotates.
  • the shaft of the speed reducer 17a rotates
  • the shaft of the coupling 17b connected to the rotation conducting unit 15 connected to the coupling rotates
  • the rotation conducting unit 15 rotates.
  • the rotation center portion 14 connected to the rotation conduction portion 15 serves as a tilt axis and tilts the operation lever 11 connected to the rotation center portion 14 in the shift direction.
  • reaction force when the control device 30 presents a force (reaction force) to the shift direction motor 17, the shift direction motor 17, the speed reducer 17a, the coupling 17b, the rotation conducting unit 15, The reaction force is transmitted in the order of the central portion 14, the load detection sensor 13, and the operation grip 12.
  • the reaction force is not transmitted to the select direction motor 21 side by the action of the ball spline device 23 as described above. That is, the select direction motor 21 is not affected by the reaction force generated by the shift direction motor 17.
  • the rotation of the select direction motor 21 causes the motor shaft of the select direction motor 21 to rotate, and the speed reducer 21a to rotate.
  • the speed reducer 21a is driven to rotate, the shaft of the coupling 21b connected to the speed reducer 21a rotates, and the entire ball spline device 23 connected to the coupling rotates around the axis of the spline shaft 23a.
  • the operation lever 11 tilts with the action portion 16 as a force point and the rotation center portion 14 as a fulcrum.
  • the control device 30 presents a force (reaction force) to the select direction motor 21, the select direction motor 21, the speed reducer 21a, the coupling 21b, the ball spline device 23, and the rotation are applied to the operation grip 12 side.
  • the reaction force is transmitted in the order of the central portion 14, the load detection sensor 13, and the operation grip 12.
  • the reaction force is not transmitted to the shift direction motor 17 side due to the action of the rotation center portion 14 and the cylindrical member 15a. That is, the shift direction motor 17 is not affected by the reaction force generated by the select direction motor 21.
  • the actuator 10 since the actuator 10 according to the present embodiment has the above-described configuration, when the user operates the operation lever 11, a mechanism that separates the transmission of force in two different axial directions is employed. 11 accurate position information can be detected.
  • the actuator 10 according to the present embodiment can rotate either one of the two motors 17 and 21 to apply a reaction force to either the shift direction or the select direction. Since a configuration that does not affect the other motor is adopted, it is only necessary to perform control in each of the shift direction and the select direction, and biaxial control in the shift direction and the select direction can be easily performed. Yes. That is, according to the actuator 10 according to the present embodiment, it is possible to present the reaction force with higher accuracy while reducing the control burden.
  • the actuator 10 according to the present embodiment is a device capable of presenting a reaction force with higher accuracy while reducing the control burden.
  • FIG. 5 is a block diagram showing an internal configuration of the control device 30 according to the present embodiment.
  • the control device 30 is configured to be able to input / output data to / from the actuator 10 as shown in FIG.
  • the connection method between the control device 30 and the actuator 10 may be performed by any method such as wired or wireless.
  • the internal configuration of the control device 30 includes a control unit 31, a calculation unit 32, a program reading unit 33, a display unit 34, a voice output unit 35, and a user.
  • An operation receiving unit 36 and a storage unit 37 are included.
  • the control unit 31 includes a servo amplifier, and has a function of executing an operation feeling presentation program read from the storage unit 37 by the program reading unit 33 and executing various controls for presenting the operation feeling. For example, the control unit 31 performs various processes such as a “selection direction reaction force presentation process” and a “shift direction reaction force presentation process” which will be described in detail later.
  • the calculation unit 32 performs various calculations such as “calculation of reaction force” based on the information input from the control unit 31.
  • the calculation unit 32 calculates the position of the operation lever 11, the stroke amount, the stroke speed, and the stroke acceleration based on the number of pulses transmitted from the encoders 18 and 22 as the operation lever information detection unit. Perform processing to calculate. Detailed processing contents will be described later.
  • the program reading unit 33 reads a program for executing various functions for presenting a sense of operation.
  • the program reading unit 33 reads a program by a method such as downloading through an Internet line.
  • the read program is configured to be stored in the storage unit 37.
  • the display unit 34 is a display device that displays a screen such as a current reaction force pattern, a virtual traveling speed, and a reaction force waveform under the control of the control unit 31.
  • the display unit 34 is configured by a liquid crystal display device, for example.
  • the voice output unit 35 outputs voices such as voice guidance, engine sounds, and gear shifting sounds according to the control of the control unit 31.
  • the user operation reception unit 36 receives an operation signal corresponding to a user operation from a predetermined controller, and notifies the control unit 31 of the result. For example, when the determination of the reaction force pattern information according to the present embodiment is received from the user, the type of the received reaction force pattern information is notified to the control unit 31.
  • the storage unit 37 is a storage medium for storing a program and various data necessary for presenting an operation feeling.
  • the storage unit 37 is configured by a non-volatile memory such as a RAM, for example.
  • various types of information used when determining the reaction force to be presented such as various types of information indicating the results of evaluation and feeling collected from the user, and the number of pulses transmitted from the shift direction encoder 18, etc. Is stored.
  • the storage unit 37 includes a wall information storage unit 37a, a reaction force pattern information storage unit 37b, and an operation lever information storage unit 37c.
  • FIGS. the storage state of the information group stored in the storage unit 37 is illustrated in FIGS. That is, FIG. 6 is an explanatory diagram showing a storage state of wall information.
  • FIG. 7 is an explanatory diagram illustrating an example of a storage state of reaction force pattern information for a select direction
  • FIG. 8 is an explanatory diagram illustrating an example of a storage state of reaction force pattern information for a shift direction.
  • FIG. 9 is a graph showing a specific configuration example of the reaction force pattern information set in FIG. 7 and FIG. 8, and a partial diagram (a) in FIG.
  • FIG. 9 operates the operation lever 11 in the plus direction.
  • the reaction force pattern information is shown, and the partial diagram (b) shows the reaction force pattern information when the operation lever 11 is operated in the minus direction.
  • FIG. 10 is an explanatory diagram illustrating an example of a storage state of the control lever information.
  • the wall information storage unit 37a stores wall information as a regulation unit that indicates a boundary between the operable range and the inoperable range of the operation lever 11.
  • the wall information storage unit 37a according to the present embodiment stores a plurality of pieces of wall information as shown in FIG. 6, and can select the wall information to freely define the operation range of the operation lever 11. It has become.
  • the wall information stored in the wall information storage unit 37a is acquired by the control unit 31 that functions as a wall information acquisition unit, and further, the control unit 31 functions as an operable range regulation unit.
  • the operable range of the operation lever 11 is restricted within a desired region.
  • the wall information storage unit 37a for example, if a plurality of pieces of wall information for different vehicle types are prepared, it is possible to immediately experience shift changes of various vehicle types. Therefore, according to the present embodiment, the degree of freedom for setting the boundary between the operable range and the inoperable range on the control surface is increased.
  • the reaction force pattern information storage unit 37b selects the reaction force pattern information for the select direction in which the position of the operation lever is associated with the reaction force characteristic information, and the operation force pattern as shown in FIG.
  • the shift direction reaction force pattern information in which the lever position is associated with the reaction force characteristic information is stored.
  • the “reaction force characteristic information” is information indicating what waveform the target reaction force has as shown in FIG. 9. That is, the reaction force characteristic information is information configured such that the reaction force characteristic is determined according to the position of the operation lever, the stroke amount, the stroke speed, and the stroke acceleration.
  • reaction force characteristic information shown in FIG. 9 the amount of stroke of the operation lever 11 is taken on the horizontal axis, and the load amount of the reaction force exerted on the operation lever 11 is set on the vertical axis. Further, as shown in the tables of FIGS. 7 and 8, this reaction force characteristic information is not only for the movement of the operation lever 11 in the shift direction and the selection direction, but also when the operation lever 11 is inserted at the end of the wall (that is, , When performing a gear change, described as “entrance characteristic”) and when the operation lever 11 is returned from the end of the wall toward the center (that is, in a neutral state, denoted as “return characteristic”). Is provided. That is, by preparing reaction force characteristic information of various patterns, various reaction forces are presented according to all operating states of the operation lever 11 (for example, stroke amount, stroke speed, stroke acceleration, load). It is possible.
  • the operating lever information storage unit 37c stores operating lever information including the position of the operating lever 11, the position of the operating lever 11, the speed of the stroke, the acceleration of the stroke, and the operating force.
  • the “stroke amount” can be calculated based on the number of pulses acquired from the shift direction encoder 18. Further, the “stroke speed” and the “stroke acceleration” can be calculated based on the time differentiation of the change in the stroke amount.
  • the operation lever information includes the position of the operation lever 11, the amount of the stroke, the speed of the stroke, the acceleration of the stroke, and the operation force. Among these, at least the operation lever 11 is included. It is necessary to be comprised including the position of.
  • control device 30 The configuration example of the control device 30 according to the present embodiment has been described above.
  • FIG. 11 is a flowchart illustrating an example of a reaction force presentation process for the shift direction motor 17 executed by the control unit 31.
  • the control unit 31 receives input of wall information (step S101). At this time, the control unit 31 functions as a wall information acquisition unit. If the input of wall information is received, the control part 31 will determine the operable range of the operation lever 11 (step S102). At this time, the control unit 31 functions as an operable range regulating unit. Thus, in this embodiment, when the control unit 31 receives input of wall information, the operable range of the operation lever 11 is defined.
  • the control unit 31 receives input of reaction force pattern information (step S103). At this time, the control unit 31 functions as a reaction force pattern information acquisition unit. When the reaction force pattern information is received, the control unit 31 determines the received reaction force pattern information as the reaction force pattern information used in the reaction force presentation process (step S104). At this time, the control unit 31 functions as a reaction force characteristic information determining unit.
  • ⁇ Operational preparation of the operation sensation simulator 100 of this embodiment is completed by determining the reaction force pattern information used in the reaction force presentation processing.
  • the control unit 31 acquires operation lever information according to the operation of the operation lever 11 by the user (step S105).
  • control unit 31 While acquiring the operating lever information, the control unit 31 executes a selection direction reaction force presentation process (step S106) and a shift direction reaction force presentation process (step S107).
  • step S106 step S107
  • the control unit 31 uses the pulses acquired by the shift direction encoder 18 and the select direction encoder 22 to determine the position of the operation lever 11, the stroke amount, and the like. Get the operation lever information for.
  • the reaction force pattern information shown in FIG. 9 is extracted according to the reaction force pattern information and the position of the operation lever 11 included in the operation lever information.
  • the control unit 31 determines the reaction force to be presented to the operation lever 11 according to the reaction force pattern information and the position of the operation lever 11, and presents the determined reaction force.
  • an operation command signal is transmitted to the two motors 17 and 21.
  • the selection direction reaction force presentation process (step S106) and the shift direction reaction force presentation process (step S107) may include a feedback process.
  • a feedback process For example, when the reaction force determined by the control unit 31 is determined and an operation command signal is transmitted to the two motors 17 and 21 so as to present the determined reaction force, the reaction force applied to the operation lever 11 The state of force can be detected by the load detection sensor 13. The load detected by the load detection sensor 13 is compared with the reaction force commanded by the control unit 31. If an error occurs between them, the control unit 31 again corrects the error to eliminate the error. Therefore, the operation command signal may be transmitted to the two motors 17 and 21 so as to present the determined correction reaction force. By executing such “feedback processing”, the accuracy of presenting a desired reaction force to the operation lever 11 is further increased.
  • the seat 51 shown in FIG. 1 can be configured to include a rotation mechanism.
  • a rotation mechanism By allowing the seat seat 51 to rotate, for example, if the seat seat 51 is rotated 180 degrees, the position of the actuator 10 with respect to the seat seat 51 is reversed left and right, so both the case of a right-hand drive vehicle and the case of a left-hand drive vehicle This pattern can be easily simulated.
  • the seat seat 51 shown in FIG. 1 is not limited to the rotation of the seat seat 51 but can be configured to include a moving mechanism that moves the seat seat 51 up and down and left and right.
  • the entire actuator 10 can be configured to include a moving mechanism. According to such a configuration, the user can move the seat 51 or the operation lever 11 in accordance with his / her body shape and a position where it can be easily operated. An environment can be provided.
  • the length of the operation lever 11 can be configured to be replaceable according to the user's preference.
  • an operation sensation simulator 100 it becomes possible to try combinations that cannot be tried with an actual machine, so it is possible to provide all simulation patterns to the user.
  • the operation sensation simulator 100 includes the seat 51, the handle 91, the accelerator pedal 92, and the clutch pedal 93.
  • these members are not necessarily indispensable components, and are appropriately included. Can be installed and removed.
  • the present invention can be used as a simulator for experiencing the sense of operation of the operation lever 11.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)

Abstract

La présente invention fournit une sensation de fonctionnement délicate à un utilisateur. Le simulateur de sensation de fonctionnement (100) a : un levier de fonctionnement (11) ayant une poignée de fonctionnement (12) au niveau d'un côté extrémité et ayant une section d'action (16) au niveau de l'autre côté extrémité ; une section centrale rotationnelle (14) positionnée entre la poignée de fonctionnement (12) et la section d'action (16) ; deux moteurs (17, 21) qui, en communiquant une force d'entraînement rotationnelle au levier de fonctionnement (11), atteignent un déplacement d'inclinaison du levier de fonctionnement (11) ayant la section centrale rotationnelle (14) en tant que centre d'inclinaison ; des unités de détection d'informations de levier de fonctionnement (18, 22) qui détectent des informations en rapport avec le levier de fonctionnement (11) ; un moyen de calcul de force de réaction (32) qui, sur la base des informations de levier de fonctionnement détectées par les unités de détection d'informations de levier de fonctionnement (18, 22), calcule la force de réaction communiquée sur le levier de fonctionnement (11) ; et un moyen de commande (31) qui, par commande des deux moteurs (17, 21) sur la base de la force de réaction calculée par le moyen de calcul de force de réaction (32), produit un déplacement d'inclinaison du levier de fonctionnement (11) et génère une force de réaction par rapport à la poignée de fonctionnement (12).
PCT/JP2013/003704 2012-08-31 2013-06-13 Simulateur de sensation de fonctionnement WO2014033988A1 (fr)

Applications Claiming Priority (2)

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JP2012191068A JP6154108B2 (ja) 2012-08-31 2012-08-31 操作感覚シミュレータ
JP2012-191068 2012-08-31

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WO2014033988A1 true WO2014033988A1 (fr) 2014-03-06

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003300425A (ja) * 2002-04-09 2003-10-21 Toyota Motor Corp 車両の運転装置
JP2005050252A (ja) * 2003-07-31 2005-02-24 Namco Ltd 操作レバー装置
JP2008200140A (ja) * 2007-02-16 2008-09-04 Taito Corp 操作入力装置用プログラム及び操作入力装置
JP2011232793A (ja) * 2010-04-23 2011-11-17 Tokai Rika Co Ltd 入力装置
JP2012059075A (ja) * 2010-09-09 2012-03-22 Tokai Rika Co Ltd 力覚付与型のシフト装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4061856B2 (ja) * 2001-04-17 2008-03-19 トヨタ自動車株式会社 運転操作装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003300425A (ja) * 2002-04-09 2003-10-21 Toyota Motor Corp 車両の運転装置
JP2005050252A (ja) * 2003-07-31 2005-02-24 Namco Ltd 操作レバー装置
JP2008200140A (ja) * 2007-02-16 2008-09-04 Taito Corp 操作入力装置用プログラム及び操作入力装置
JP2011232793A (ja) * 2010-04-23 2011-11-17 Tokai Rika Co Ltd 入力装置
JP2012059075A (ja) * 2010-09-09 2012-03-22 Tokai Rika Co Ltd 力覚付与型のシフト装置

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JP6154108B2 (ja) 2017-06-28

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